Notable for winning the LMP2 class four times at the 24 Hours of Le Mans, Lapierre was a factory driver at Toyota during the early days of the WEC before becoming a staple of the Alpine team until his retirement in 2024.

[9] At Le Mans, Lapierre, Panis, and Loïc Duval were fighting for a spot on the podium until Sunday morning, when a major oil fire caused the team's retirement.

Alongside his 2010 Le Mans teammates, Lapierre beat the Peugeot works entry by winning the opening race at Sebring, a result which helped the team, which only entered four of the season's eight events, to finish fourth in the standings.

However, victory in Japan (where the race was abandoned after 16 laps behind the safety car due to wet conditions) and a second place from pole in China put the team back to fourth in the standings.

[20] Strong showings at Silverstone and Spa yielded two victories for the #8, meanwhile Lapierre scored his best Le Mans result to date with a third place overall.

[24][25] Going into 2015, Lapierre stepped down into the LMP2 category, taking part in three races of the WEC with KCMG alongside Richard Bradley and Matthew Howson, replacing Nick Tandy for the Brit's Porsche-related absences.

[27][28] The same year also saw Lapierre drive for Thiriet by TDS Racing in the final round of the European Le Mans Series, which he won after a charging performance.

[34][35][36] Two retirements in the latter meanwhile prevented the DragonSpeed crew from fighting for the title, though Lapierre, Ben Hanley, and bronze-ranked Henrik Hedman managed to finish the season fourth overall after winning from pole at Spa.

[41] For the 2018–19 WEC "Super Season" Lapierre returned to Alpine on a full-time basis, partnering André Negrão and silver-ranked Pierre Thiriet.

[52] After a challenging Le Mans event the team won at Monza, though they were unable to hold the championship lead, eventually losing out to the #8 Toyota.

[53][54] As the usage of former LMP1 machines was disallowed in 2023, Lapierre instead focused on the LMP2 Pro-Am class of the ELMS with Cool Racing, where he had been driving for the past three years parallel to his Alpine exploits.

[55] Driving alongside Alexandre Coigny and Peugeot reserve driver Malthe Jakobsen, Lapierre helped the team towards two Pro-Am victories at Spa and Algarve, though the squad narrowly lost out on the title to the AF Corse crew in the season finale.

[58] Having completed a testing programme for Alpine's Hypercar, the A424, Lapierre became part of their WEC lineup again in 2024, driving the #36 alongside Vaxivière and Mick Schumacher.